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USING DISTRIBUTED ALGORITHMS  WE PROPOSE TO DEVELOP DECENTRALIZED TECHNIQUES FOR A GROUP OF ROBOTS TO APPROACH AND GRASP AN UNKNOWN OBJECT. FURTHER  TAKING INSPIRATION FROM OPTIMAL CONTROL THEORY AND REINFORCEMENT LEARNING  WE PROPOSE TO STUDY HOW A GROUP OF AGENTS CAN OPTIMIZE THEIR CONTROL EFFORTS ONLINE. WE FINALLY AIM TO STUDY HOW TO PROVIDE SAFETY GUARANTEES FOR THE PERFORMANCE OF A COLLABORATIVE MANIPULATION SYSTEM. THIS RESEARCH REPRESENTS AN IMPORTANT STEP TOWARD ENABLING ROBOTIC CONSTRUCTION AND MANIPULATION IN SPACE. THESE TECHNOLOGIES CAN SERVE TO ENABLE FABRICATION OF HABITATS IN ORBIT AND ON CELESTIAL BODIES FOR HUMANS  OR FOR CONSTRUCTION OF STRUCTURES FOR EXPLORATION AND STORAGE IN SPACE. 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